Mechanical design of multifunctional quadruped

Zielińska, Teresa; Heng, John

doi:10.1016/s0094-114x(03)00004-1

Cited by 19 publications

(6 citation statements)

References 10 publications

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“…The foot compliance is typically obtained using springs. Many multi-legged robots have feet shaped as balls or as a rotating plates [11].…”

Section: Role Of the Properly Designed Footmentioning

confidence: 99%

Autonomous walking machines - discussion of the prototyping problems

Zielińska¹

2010

Bulletin of the Polish Academy of Sciences: Technical Sciences

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Abstract. An improvement of the computer technology caused the progress in building of the developed machines, indispensable in some works which are too dangerous or onerous for humans. The article deals with prototyping problems in constructing autonomous walking machines including design problems, evaluation of required motor power, evaluation of expecting walking velocity as well as the control system design considerations etc., presenting themselves as key factors which must be taken into account while walking robots prototyping.

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“…The foot compliance is typically obtained using springs. Many multi-legged robots have feet shaped as balls or as a rotating plates [11].…”

Section: Role Of the Properly Designed Footmentioning

confidence: 99%

Autonomous walking machines - discussion of the prototyping problems

Zielińska¹

2010

Bulletin of the Polish Academy of Sciences: Technical Sciences

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“…The StarlETH (Hutter et al, 2012), LittleDog (Shkolnik et al, 2010), XDOg (Xie et al, 2014), MIT Cheetah (Seok et al, 2013), IIT HyQ (Semini et al, 2011) and Cheetah-cub (Spröwitz et al, 2013) are other examples of quadrupeds motivated by the mammalian morphology. Alternative design of the robot legs is inspired by the leg structure of insects and arachnids such as spider (Ho et al, 2007;Gasparetto et al, 2008), examples of which can be found in the design of TITAN quadruped (Kato and Hirose, 2001), LAVA (Zielinska and Heng, 2003), LAURON V (Roennau et al, 2013), PUT Hexapod Robots (Belter et al, 2015), MRWALLSPECT-III (Kang et al, 2003), and MiniQuad I (Chen et al, 2008).…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg

Kashiri

Ajoudani

Caldwell

et al. 2016

Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics

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As a major inspiration of biologically inspired systems, multi-legged robots have been developed due to their superior stability feature resulting from their large support polygon. The leg design of a majority of such robots is motivated by the skeleton of vertebrates such as dogs, or that of invertebrates such as spiders. Despite a wide variety of multi-pedal robots on the basis of the two aforesaid leg designs, a thorough comparison of the two underlying design principles remains to be done. This work addresses this problem and presents a comparative study for the two mammal-like and spider-like designs by looking at the joint torque profile, the responsive motion of the legs, and the thrust force applied by the robot. To this end, a set of performance indexes are defined based on the gravity compensation torque, the dynamic manipulability polytope and the force polytope, and evaluated in various leg configurations of the two designs.

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“…Arikawa deployed an enhanced wire driven mechanism in TITAN-VIII to enlarge the working space (1) . Tee (2) and Zielinska (3) also developed legs with large workspace by using worm gear driver and differential gear drive mechanism respectively. Those robots are complex machines difficult for manufacturing.…”

Section: Introductionmentioning

confidence: 99%

Development of Multi-Legged Walking Robot Using Reconfigurable Modular Design and Biomimetic Control Architecture

Chen

Sun

Huang

et al. 2008

JSDD

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This paper focuses on the design of a modular multi-legged walking robot MiniQuad-I, which can be reconfigured into variety configurations, including quadruped and hexapod configurations for different tasks by changing the layout of modules. Critical design considerations when taking the adaptability, maintainability and extensibility in count simultaneously are discussed and then detailed designs of each module are presented. The biomimetic control architecture of MiniQuad-I is proposed, which can improve the capability of agility and independence of the robot. Simulations and experiments on crawling, object picking and obstacle avoiding are performed to verify functions of the MiniQuad-I.

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Mechanical design of multifunctional quadruped

Cited by 19 publications

References 10 publications

Autonomous walking machines - discussion of the prototyping problems

Autonomous walking machines - discussion of the prototyping problems

Evaluation of Hip Kinematics Influence on the Performance of a Quadrupedal Robot Leg

Development of Multi-Legged Walking Robot Using Reconfigurable Modular Design and Biomimetic Control Architecture

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